Omron 1 S Series User Manual page 441

Operation Timing in Error Detection
Excessive Limit Value Error (Error No. 71.03) occurs when a Safety Present Motor Velocity exceeds
the velocity limit, and then SLS function goes into the STO status. To reset the error, refer to 8-1-10 Pro-
cedure for Reset of Safety Error on page 8-20.
SLS command
at Safety CPU Unit
Safety task cycle
at Safety CPU Unit
SLS velocity limit
SLS velocity limit
SLS command (Status)
at Servo Drive
error acknowledge (Status)
at Servo Drive
STO command (Status)
at Servo Drive
Motor power status
*1. As for safety task cycle, refer to NX-series Safety Control Units User's Manual (Cat. No. Z930).
*2. FSoE Communication Time.
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Velocity
+
0
Monitoring SLS function
-
SLS status
No error
Normal status
ON
Activate SLS
Safety task cycle
Transmit Safety PDO
7 ms max.
8 Safety Function
*1
*2
Time
10 ms max.
Normal status
Error detected
STO status
OFF
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